| KDM 智能车的数学模型研究 |
| |
| 引用本文： | 舒兆根,唐修俊,胡惠道,周浩贤,徐明.KDM 智能车的数学模型研究[J].国防科技大学学报,1993,15(1):97-104 ,96. |
| |
| 作者姓名： | 舒兆根 唐修俊 胡惠道 周浩贤 徐明 |
| |
| 作者单位： | 国防科技大学自动控制系
(舒兆根，唐修俊，胡惠道，周浩贤)，国防科技大学自动控制系(徐明) |
| |
| 摘 要： | 本文确定了对载车数学模型构造方法,并试图以KDM-1移动机器人作为实例,用非完整系统力学当作分析工具,通过实验获得模型数据,并由实车行驶进行检验,几个重要参数由仿真试验校核。数学模型的仿真与室内的行车试验相对比的结果比较一致。对同类载车数学模型的建立提供了有效的方法。
|
| 关 键 词： | 动力学 数学模型 移动载车 仿真试验 非完整系统 |
| 收稿时间： | 1992/5/11 0:00:00 |
The Research of Mathematical Model for Mobile Robot KDM-1 |
| |
| Shu Zhaogen,Tang Xiujun,Hu Huidao,Zhou Haoxian and Xu Ming.The Research of Mathematical Model for Mobile Robot KDM-1[J].Journal of National University of Defense Technology,1993,15(1):97-104 ,96. |
| |
| Authors: | Shu Zhaogen Tang Xiujun Hu Huidao Zhou Haoxian and Xu Ming |
| |
| Institution: | Department of Automatic Control |
| |
| Abstract: | The method of mathematical model construction for mobile vehicle has been created in this paper.The dynamic model of Mobile Robot KDM-l as the special case has been deduced in detail, and the au- thors try to use the dynamical mechanics of nonholonomic systems as the analytical instruments. The da-ta of the model are obtained by experiment and checked by real vehicle driving, and several parametersare inspected by simulation testing. It is revealed that the satisfactory result of simulation with dynamicmodel consists with that of driving experiments of vehicle inside the room. The paper has presented auseful way for other vehicle carrying mobile robot to build up he mathematical model. |
| |
| Keywords: | dynamics mathematical model mobile vehicle simulation testing incomplete system |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《国防科技大学学报》浏览原始摘要信息 |
| 点击此处可从《国防科技大学学报》下载免费的PDF全文 |
|
